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I just received and installed an internal SATA drive (Pioneer BDR-206D) in my 2010 Mac Pro Workstation, to try out with makemkv. This Pioneer drive is their current model, but the firmware version posted on Pioneer's website is version 1.05. I have also an older LG drive (WH10LS30) in the lower bay that has worked flawlessly so far. The first BLU-RAY disc I tried to do a backup on the Pioneer resulted in the following output:

Drive Information
?OS device name: /dev/rdisk2?
Current profile: BD-ROM
?Manufacturer: PIONEER?
Product: BD-RW BDR-206D?
Revision: 1.06?
Serial number: XXXXXXXXXXXX?
Firmware details: intf=SAT gen=1030 krnl=ID61 main=ID61 ver=0002
?Firmware date: 2011-04-18??

Disc Information?
Data capacity: 46.15 Gb
?Disc type: BD-ROM?
Number of layers: 2?
Channel bit length: 74,5 nm (25.0 GB max. per layer)

MakeMKV v1.6.16 darwin(x86-release) started
?Optical drive "BD-RE PIONEER BD-RW BDR-206D 1.06" opened in DASPI v1.3 mode.?
Optical drive "BD-RE HL-DT-ST BD-RE WH10LS30 1.00" opened in DASPI v1.3 mode.
?Backing up disc into folder "/Volumes/HD/Movies/backup/PAUL"?
Error 'Scsi error - ILLEGAL REQUEST:INVALID FIELD IN CDB' occurred while issuing SCSI command AD010..084002400 to device 'DASPI:IODASPIService:ead8a96bdf786ac1:'
?Loaded content hash table, will verify integrity of M2TS files.
Backup done

The same disc with the LG drive completed with no such error and ran a little faster (took about 3/4 the time to complete).

So the question is, is this error something to be concerned about? The backup in this case was successful. I then tried a backup on a different BLU-RAY disc using the Pioneer and got the same error message, and the backup was successful as well.

This error means that your drive can't read a certain structure from the disc. In this particular case, you can safely ignore this error.